Mechanism and Machine Theory最新文献_第2页

The terminal constraint and coupling kinematics of a novel 3-UPU parallel mechanism with screw type terminal constraints

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106018

Bo Hu , Jiahe Zhang

{"title":"The terminal constraint and coupling kinematics of a novel 3-UPU parallel mechanism with screw type terminal constraints","authors":"Bo Hu , Jiahe Zhang","doi":"10.1016/j.mechmachtheory.2025.106018","DOIUrl":"10.1016/j.mechmachtheory.2025.106018","url":null,"abstract":"<div><div>The previous researches on 3-UPU parallel mechanisms (PMs) mainly focused on mechanisms with force and torque type terminal constraints. However, the 3-UPU PMs with screw type constraints have not been investigated. This paper proposes a novel 3-UPU PM with screw type terminal constraints, and systematically studies its analytical terminal constraints and closed form coupled kinematics. Based on the geometric characteristics of the terminal constraint of the particular UPU leg and the geometric property of the second-order screw system, the analytical form terminal constraints of the 3-UPU PM are derived. This type of PMs has high motion coupling at its moving platform, which is different from the traditional lower mobility PMs. By revealing the multiple coupling principle of the kinematic parameters through the kinematics constraint equations, a pose decoupling model of this mechanism is established and the analytical solution of the inverse position problem is derived. Meanwhile, the closed form forward displacement is derived using the Sylvester dialytic elimination method. The work presented in this article provides new insights into the 3-UPU type PMs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106018"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Reviewer acknowledgments and awards: Recognition awards for distinction of reviewing in 2024

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106031

Paulo Flores

引用次数: 0

Projective synthesis of planar compliant mechanisms

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106010

O. Sorgonà , O. Giannini , M. Verotti

引用次数: 0

Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-04 DOI: 10.1016/j.mechmachtheory.2025.106016

Shuai Liu , Molong Duan

引用次数: 0

Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-03 DOI: 10.1016/j.mechmachtheory.2025.106000

Enrique Pujada-Gamarra , Lena Zentner , Daniel Lavayen-Farfán , Jorge A. Rodriguez-Hernandez

{"title":"Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation","authors":"Enrique Pujada-Gamarra , Lena Zentner , Daniel Lavayen-Farfán , Jorge A. Rodriguez-Hernandez","doi":"10.1016/j.mechmachtheory.2025.106000","DOIUrl":"10.1016/j.mechmachtheory.2025.106000","url":null,"abstract":"<div><div>Origami, the art of folding paper, has been extensively explored for its potential to produce complex structures and enable rapid and precise movements with few folds. The flexibility and low thickness of paper make it ideal for folding, although most engineering applications require stiffer and thicker materials when drawing inspiration from Origami. For that, several techniques have been developed over the years and the double-hinge technique is one of the least explored techniques for thick Origami, even though it shows a major advantage to obtain a fully flat surface in the unfolded state. This advantage makes it ideal when developing solar panels where flat surfaces are required to maximize the absorbed energy. In this work, the Miura Ori pattern, based on the degree-4 vertex coupled with the double-hinge thickness accommodation technique, is analyzed to obtain relationships between the kinematics, thickness, sector angles, and periodicity. It is found that by releasing certain degrees-of-freedom, the double-hinge technique can be used to fold Origami patterns, with flat-foldability and preserving the Origami motion. The findings of this research contribute to a deeper understanding of thickness implications in the double-hinge technique for Origami-based thickness accommodations. This study presents a novel model that has not been previously explored, establishing key insights that are crucial for future emerging applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106000"},"PeriodicalIF":4.5,"publicationDate":"2025-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143759160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cable-driven deployment mechanism design and electromechanical coupling modeling for rigid-reflector deployable antenna

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-01 DOI: 10.1016/j.mechmachtheory.2025.106006

Guodong Tan, Xiangfei Meng, Xuechao Duan, Fanwei Ye, Dongwu Yang, Guangda Chen, Didi Du

{"title":"Cable-driven deployment mechanism design and electromechanical coupling modeling for rigid-reflector deployable antenna","authors":"Guodong Tan, Xiangfei Meng, Xuechao Duan, Fanwei Ye, Dongwu Yang, Guangda Chen, Didi Du","doi":"10.1016/j.mechmachtheory.2025.106006","DOIUrl":"10.1016/j.mechmachtheory.2025.106006","url":null,"abstract":"<div><div>This study introduces a novel rigid-reflector deployable antenna (RRDA), featuring a Cable-Driven Synchronous Device (CDSD). It begins with the derivation of formulations for petal count and hub radius, followed by an oblique-axis deployment principle tailored to the petal. To avoid potential interference, a straightforward parameter-tuning strategy is formulated. Petal deployment is achieved simply using the universal joint coupling, which further facilitates the CDSD implementation in the outer–inner wrapping mode. Furthermore, a shaft-adjusting device is designed to ensure precise positioning of the rotational shaft. Prototype experiments validate the antenna’s smooth deployment with reasonable input torque, and reveal the CDSD’s self-compensation capability to eliminate backlash. Subsequently, various complex error sources are integrated into the Cone-Error Model (CEM) with solely two parameters, leading to the development of the Specific Electromechanical Coupling Model (SECM) to precisely characterize the relation between electromagnetic (EM) performance and joint tolerance. Under the guidance of SECM, the RRDA is allocated reasonable tolerance, according to EM indices. In conclusion, the proposed RRDA offers an effective and practical solution for high-frequency satellite antennas, with potential promising engineering applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106006"},"PeriodicalIF":4.5,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143738901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-01 DOI: 10.1016/j.mechmachtheory.2025.106011

Luquan Li , Chunxu Tian , Zhihao Xia , Dan Zhang

{"title":"Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model","authors":"Luquan Li , Chunxu Tian , Zhihao Xia , Dan Zhang","doi":"10.1016/j.mechmachtheory.2025.106011","DOIUrl":"10.1016/j.mechmachtheory.2025.106011","url":null,"abstract":"<div><div>Leveraging the intuitiveness of a geometric model to describe motion, this study proposed a design method for a novel class of spatial parallel manipulators with remote center of motion (RCM) based on a concentric spherical surfaces geometric model. First, the topological structures of the parallel RCM manipulator are constructed by integrating the characteristics of the single-loop closed chain (SLCC), multi-degree of freedom (DOF) drive unit (DU), and RCM motion. Subsequently, a geometric model based on concentric spherical surfaces is developed to reveal the principle of generating RCM motion. Building on the concentric spherical geometric model, the general topological arrangements of the parallel RCM manipulators are proposed, while the key constraint conditions are determined. Then, a class of parallel RCM manipulators is systematically synthesized based on the Lie group. Based on the structural characteristics of this class of parallel RCM manipulators, a generalized assembly error model is built to analyze the impact of assembly errors on mechanism accuracy. Finally, the application and analysis of a parallel RCM manipulator are discussed.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106011"},"PeriodicalIF":4.5,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143747103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic characteristics of rotor system with initial bending induced by the misaligned four-point contact ball bearing

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-01 DOI: 10.1016/j.mechmachtheory.2025.106017

Hong Guan , Xiangfu Ding , Hui Ma , Bangchun Wen , Sainan Zhou , Qinqin Mu , Yao Zeng , Yanyan Chen

{"title":"Dynamic characteristics of rotor system with initial bending induced by the misaligned four-point contact ball bearing","authors":"Hong Guan , Xiangfu Ding , Hui Ma , Bangchun Wen , Sainan Zhou , Qinqin Mu , Yao Zeng , Yanyan Chen","doi":"10.1016/j.mechmachtheory.2025.106017","DOIUrl":"10.1016/j.mechmachtheory.2025.106017","url":null,"abstract":"<div><div>Previous studies on bearing misalignment mainly focused on abnormal bearing loads, assuming a healthy rotor, which overlooked the initial bending induced by misalignment. This could cause inaccurate vibration predictions. To bridge the gap, a developed dynamic model incorporating rotor initial bending induced by bearing misalignment is proposed and validated through vibration tests. The model includes a quasi-static analysis of misaligned four-point contact bearings to calculate abnormal loads and rotor deformation. Results show that bearing nonlinearity generates harmonic and combined frequencies. The bearing outer ring tilt significantly alters the contact stress between balls and raceways, while rotational speed and rotor bending have minimal impact at large tilt angles. Due to the tilt of the bearing outer ring around the vertical, during the revolution of balls, when the azimuth angle of balls is within the range of -90° to 90°, the ball is always in contact with the left inner raceway; when the azimuth angle of balls is within the range of 90° to 270°, the ball is always in contact with the right inner raceway. In radar maps, the contact loads in these two regions show symmetry. The phase difference and magnitude of initial bending mainly affect rotor vibration.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106017"},"PeriodicalIF":4.5,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143747104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Anisotropic vs. isotropic friction: New theoretical results verified experimentally exhibited by a horizontal pendulum on the rotating disk

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-28 DOI: 10.1016/j.mechmachtheory.2025.106004

Adam Wijata, Jan Awrejcewicz, Krzysztof Witkowski

{"title":"Anisotropic vs. isotropic friction: New theoretical results verified experimentally exhibited by a horizontal pendulum on the rotating disk","authors":"Adam Wijata, Jan Awrejcewicz, Krzysztof Witkowski","doi":"10.1016/j.mechmachtheory.2025.106004","DOIUrl":"10.1016/j.mechmachtheory.2025.106004","url":null,"abstract":"<div><div>The paper presents the investigation of the dynamics of a horizontal pendulum on the rotating disk under isotropic and anisotropic friction. The studied system can serve as an archetypal system for the investigation of numerous practical problems, like disk brake design or clutch dynamics. A dimensionless mathematical model of the system is derived. Two potentially counterintuitive behaviors of the system are demonstrated and explained. For an isotropic system, it is shown that above certain critical disk rotational speed, systems transient response became oscillatory. An estimate for the non-oscillatory transient response time-constant is given. For the anisotropic friction case, the basic mechanism behind the periodic orbit is explained utilizing the reduced-order parametric model (ROPM) of the counterpart linearized system. It is shown, that for certain conditions, the analyzed system is analogical to a mass-variable damper oscillator with its end kinematically excited by a periodic velocity profile. The direction field of the nonlinear system is estimated with numerical computation. Both analytical and numerical findings are tested by experimental results carried out on a specially constructed dedicated laboratory stand.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106004"},"PeriodicalIF":4.5,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143714876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Deployable Cellular Structures of Pyramids and Prisms for Construction of Large-scale Deployable Supporting Trusses

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-26 DOI: 10.1016/j.mechmachtheory.2025.106001

Qizhi Meng , Ming Jiang , Marco Ceccarelli

{"title":"Deployable Cellular Structures of Pyramids and Prisms for Construction of Large-scale Deployable Supporting Trusses","authors":"Qizhi Meng , Ming Jiang , Marco Ceccarelli","doi":"10.1016/j.mechmachtheory.2025.106001","DOIUrl":"10.1016/j.mechmachtheory.2025.106001","url":null,"abstract":"<div><div>Pyramidal and prismatic deployable structures always serve as fundamental components of large-scale deployable supporting trusses. In this paper, the mechanism design and drive layout selection of deployable cellular structures are focused on for constructing different types of deployable mechanisms. First, deployable mechanisms with two types of backbone mechanisms are proposed as basic units to construct structures of pyramids and prisms. The mobility analysis of the proposed deployable mechanisms is carried out via screw theory. Subsequently, deployable cellular pyramids and prisms are constructed by proposed deployable mechanisms via modular assembly with central and planar symmetry. Kinematic analysis is then presented to understand the input-output relationships and deployable characteristics. Performance evaluation and comparisons of deployable mechanisms considering different actuated joints are carried out to select the optimal drive layout by adopting motion/force transmission and constraint indices. As a result, modular-designed supporting trusses are proposed for space-borne mesh reflectors and parabolic antennas based on deployable cellular structures. The proposed deployable cellular structures and constructed deployable trusses are expected to contribute valuable references in the field of deployable mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106001"},"PeriodicalIF":4.5,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143698105","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0